Answer

There are at least two interpretations of this. In Hasidism, it usually means an experience of devekut—a felt sense of connection to the Holy One, blessed be He. Rabbi Chaim of Volozhin objects to this and argues that devekut is an objective state: whoever engages in Torah is attached to the Holy One, blessed be He, because He and His will are one. (By the way, in the book Tanya there is a completely similar statement.)
Is that the goal or not? In my understanding, the goal of Torah study is devekut in Rabbi Chaim’s sense. But that is almost a tautology. What is the goal of the Torah in general? I have no idea.